Affiliation:
1. Mechanical Engineering Department, University of Connecticut, Storrs, CT 06269-3139
Abstract
A method is developed to resolve the redundancy of serial robotic manipulators. The main characteristics of this method are as follows: (a) The solution is conservative (unique); (b) It globally (over the task period) optimizes the objective function; (c) It is computationally very fast. In fact, it is about three orders of magnitude faster than solving for the exact boundary value problem.
Cited by
4 articles.
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